If you don't erase on camera, how careful do you have to be?
Well, I've honestly never used Format except perhaps when I've bought a new card (i.e., 4 or 5 times total), across D30, 10D, 20D, and now 40D models. And I've never had a lick of trouble with a corrupt file system. That's hundreds of thousands of images taken, 10 or 50 at a time. What's that, something like 2,000 to 10,000 uses of the "Erase All" function on just a couple of different cards (I retired my 32 MB and 128 MB cards loooong ago).
From my own experience there's been no practical advantage to Format over Erase All.
-Noel